Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors
Abstract
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors. Researchers have proposed systems that either focus on utilizing a single mobile robot or a system of cooperative multiple robots. However, very few of the proposed works, particularly in the field of multi-robot systems, are completely dependent on LiDAR sensors for achieving various tasks. This is essential when other sensors on a robot fail to provide peak performance in particular conditions, such as a camera operating in the absence of light. This paper proposes a multi-robot system that is developed using ROS (Robot Operating System) for intruder detection in a single-range-sensor-per-robot scenario with centralized processing of detections from all robots by our central bot MIDNet (Multiple Intruder Detection Network). This work is aimed at providing an autonomous multi-robot security solution for a warehouse in the absence of human personnel.
Cite
@article{arxiv.2011.03838,
title = {Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors},
author = {Mashnoon Islam and Touhid Ahmed and Abu Tammam Bin Nuruddin and Mashuda Islam and Shahnewaz Siddique},
journal= {arXiv preprint arXiv:2011.03838},
year = {2021}
}
Comments
Accepted Version, 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) November 4-6, Abu Dhabi, UAE